FR2983397A1 - Dispositif d'assistance au positionnement d'un instrument medical relativement a un organe interne d'un patient et procede de commande d'un tel dispositif - Google Patents
Dispositif d'assistance au positionnement d'un instrument medical relativement a un organe interne d'un patient et procede de commande d'un tel dispositif Download PDFInfo
- Publication number
- FR2983397A1 FR2983397A1 FR1161217A FR1161217A FR2983397A1 FR 2983397 A1 FR2983397 A1 FR 2983397A1 FR 1161217 A FR1161217 A FR 1161217A FR 1161217 A FR1161217 A FR 1161217A FR 2983397 A1 FR2983397 A1 FR 2983397A1
- Authority
- FR
- France
- Prior art keywords
- medical instrument
- patient
- support
- articulated arm
- probe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000001835 viscera Anatomy 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title abstract description 5
- 239000000523 sample Substances 0.000 claims abstract description 35
- 238000010191 image analysis Methods 0.000 claims abstract description 5
- 238000004458 analytical method Methods 0.000 claims description 7
- 238000002604 ultrasonography Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 18
- 210000002307 prostate Anatomy 0.000 description 57
- 238000001574 biopsy Methods 0.000 description 7
- 210000000056 organ Anatomy 0.000 description 6
- 238000013459 approach Methods 0.000 description 5
- 210000000664 rectum Anatomy 0.000 description 5
- 210000001519 tissue Anatomy 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 230000037361 pathway Effects 0.000 description 3
- 210000000436 anus Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002690 local anesthesia Methods 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 206010060862 Prostate cancer Diseases 0.000 description 1
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000005001 male reproductive tract Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0241—Pointed or sharp biopsy instruments for prostate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Quality & Reliability (AREA)
- Radiology & Medical Imaging (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Manipulator (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
Description
Claims (7)
- REVENDICATIONS1. Dispositif d'assistance au positionnement d'un instrument médical (2) inséré dans une voie naturelle (100) ou une voie artificielle d'un patient relativement à un 5 organe interne (P) d'un patient, le dispositif comportant : - un support (1) destiné à être inséré au moins en partie dans le corps du patient et qui porte l'instrument médical ; - des moyens de déplacement du support, lesdits moyens de 10 déplacement comportant un bras articulé (9) qui comprend une pluralité de degrés de liberté pour déplacer une extrémité proximale (la) du support ; - des moyens d'acquisition d'images de l'organe interne pour positionner l'instrument médical relativement à 15 l'organe interne, les moyens d'acquisition d'images comportant une sonde (5) portée par le support de sorte que l'instrument médical et la sonde soient rigidement liés ; - un organe de commande (10) des moyens de déplacement qui est relié aux moyens d'acquisition d'images et qui comporte 20 des moyens d'analyse des images (11) pour générer des ordres de commande à destination du bras articulé afin de contrôler au moins un déplacement de l'instrument médical relativement à l'organe interne.
- 2. Dispositif selon la revendication 1, dans lequel 25 les moyens d'analyse comportent des moyens d'estimation d'une distance (12) entre la sonde (5) et l'organe interne pour freiner un déplacement du bras articulé (9) en fonction de ladite distance.
- 3. Dispositif selon la revendication 1, dans lequel 30 les moyens d'analyse comportent des moyens d'estimation d'une déformée (13) de l'organe interne pour freiner un déplacement du bras articulé (9) en fonction de ladite déformée.
- 4. Dispositif selon la revendication 1, dans lequel 35 le bras articulé (9) est lié à l'extrémité proximale (la)du support (3) par une liaison de type à cardan ou à rotule.
- 5. Dispositif selon la revendication 1, dans lequel la sonde (5) est une sonde échographique.
- 6. Dispositif selon la revendication 1, comportant un écran de visualisation (7) des images prises par la sonde (5).
- 7. Dispositif selon la revendication 1, dans lequel l'instrument médical est une aiguille (2).
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1161217A FR2983397B1 (fr) | 2011-12-06 | 2011-12-06 | Dispositif d'assistance au positionnement d'un instrument medical relativement a un organe interne d'un patient et procede de commande d'un tel dispositif |
PCT/EP2012/074711 WO2013083731A1 (fr) | 2011-12-06 | 2012-12-06 | Dispositif d'assistance au positionnement d'un instrument medical relativement a un organe interne d'un patient |
US14/362,951 US10057464B2 (en) | 2011-12-06 | 2012-12-06 | Assistive device for positioning a medical instrument relative to an internal organ of a patient |
JP2014545268A JP5878645B2 (ja) | 2011-12-06 | 2012-12-06 | 患者の内部器官に対して医療機器を位置決めするための補助装置 |
ES12795486T ES2739286T3 (es) | 2011-12-06 | 2012-12-06 | Dispositivo de asistencia al posicionamiento de un instrumento médico con respecto a un órgano interno de un paciente |
EP12795486.5A EP2787895B1 (fr) | 2011-12-06 | 2012-12-06 | Dispositif d'assistance au positionnement d'un instrument medical relativement a un organe interne d'un patient |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1161217A FR2983397B1 (fr) | 2011-12-06 | 2011-12-06 | Dispositif d'assistance au positionnement d'un instrument medical relativement a un organe interne d'un patient et procede de commande d'un tel dispositif |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2983397A1 true FR2983397A1 (fr) | 2013-06-07 |
FR2983397B1 FR2983397B1 (fr) | 2014-07-04 |
Family
ID=47291025
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1161217A Active FR2983397B1 (fr) | 2011-12-06 | 2011-12-06 | Dispositif d'assistance au positionnement d'un instrument medical relativement a un organe interne d'un patient et procede de commande d'un tel dispositif |
Country Status (6)
Country | Link |
---|---|
US (1) | US10057464B2 (fr) |
EP (1) | EP2787895B1 (fr) |
JP (1) | JP5878645B2 (fr) |
ES (1) | ES2739286T3 (fr) |
FR (1) | FR2983397B1 (fr) |
WO (1) | WO2013083731A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2608038B (en) * | 2020-02-11 | 2024-04-17 | Prospack Llc | Devices for compressing human prostate and method for using same |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006091494A1 (fr) * | 2005-02-22 | 2006-08-31 | Mako Surgical Corp. | Systeme de guidage haptique et procede |
US20060207978A1 (en) * | 2004-10-28 | 2006-09-21 | Rizun Peter R | Tactile feedback laser system |
US20090118640A1 (en) * | 2007-11-06 | 2009-05-07 | Steven Dean Miller | Biopsy planning and display apparatus |
US20100056900A1 (en) * | 2006-03-14 | 2010-03-04 | The John Hopkins University | Apparatus for insertion of a medical device within a body during a medical imaging process and devices and methods related thereto |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6785572B2 (en) * | 2001-11-21 | 2004-08-31 | Koninklijke Philips Electronics, N.V. | Tactile feedback and display in a CT image guided robotic system for interventional procedures |
US8123697B2 (en) * | 2002-02-14 | 2012-02-28 | Koninklijke Philips Electronics N.V. | Method and apparatus for MR-guided biopsy |
US7831292B2 (en) * | 2002-03-06 | 2010-11-09 | Mako Surgical Corp. | Guidance system and method for surgical procedures with improved feedback |
US20050159676A1 (en) * | 2003-08-13 | 2005-07-21 | Taylor James D. | Targeted biopsy delivery system |
US9402639B2 (en) * | 2005-12-14 | 2016-08-02 | General Electric Company | Method and apparatus for alignment of a mobile fluoroscopic imaging system |
US20100016710A1 (en) * | 2008-07-11 | 2010-01-21 | Dinesh Kumar | Prostate treatment apparatus |
US9521994B2 (en) * | 2009-05-11 | 2016-12-20 | Siemens Healthcare Gmbh | System and method for image guided prostate cancer needle biopsy |
JP5392770B2 (ja) * | 2009-12-16 | 2014-01-22 | 独立行政法人産業技術総合研究所 | 針状手術器具の刺入支援装置 |
-
2011
- 2011-12-06 FR FR1161217A patent/FR2983397B1/fr active Active
-
2012
- 2012-12-06 WO PCT/EP2012/074711 patent/WO2013083731A1/fr active Application Filing
- 2012-12-06 US US14/362,951 patent/US10057464B2/en active Active
- 2012-12-06 EP EP12795486.5A patent/EP2787895B1/fr active Active
- 2012-12-06 JP JP2014545268A patent/JP5878645B2/ja active Active
- 2012-12-06 ES ES12795486T patent/ES2739286T3/es active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060207978A1 (en) * | 2004-10-28 | 2006-09-21 | Rizun Peter R | Tactile feedback laser system |
WO2006091494A1 (fr) * | 2005-02-22 | 2006-08-31 | Mako Surgical Corp. | Systeme de guidage haptique et procede |
US20100056900A1 (en) * | 2006-03-14 | 2010-03-04 | The John Hopkins University | Apparatus for insertion of a medical device within a body during a medical imaging process and devices and methods related thereto |
US20090118640A1 (en) * | 2007-11-06 | 2009-05-07 | Steven Dean Miller | Biopsy planning and display apparatus |
Non-Patent Citations (1)
Title |
---|
GREMINGER M A ET AL: "Vision-based force measurement", IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, IEEE SERVICE CENTER, LOS ALAMITOS, CA, US, vol. 26, no. 3, 1 March 2004 (2004-03-01), pages 290 - 298, XP011106112, ISSN: 0162-8828, DOI: 10.1109/TPAMI.2004.1262305 * |
Also Published As
Publication number | Publication date |
---|---|
US20140354792A1 (en) | 2014-12-04 |
FR2983397B1 (fr) | 2014-07-04 |
US10057464B2 (en) | 2018-08-21 |
ES2739286T3 (es) | 2020-01-30 |
JP2015504694A (ja) | 2015-02-16 |
EP2787895B1 (fr) | 2019-05-29 |
JP5878645B2 (ja) | 2016-03-08 |
EP2787895A1 (fr) | 2014-10-15 |
WO2013083731A1 (fr) | 2013-06-13 |
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Owner name: KOELIS, FR Effective date: 20180927 Owner name: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE, FR Effective date: 20180927 Owner name: SORBONNE UNIVERSITE, FR Effective date: 20180927 |
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